• Journal of Institute of Control, Robotics and Systems
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• v.22 no.10
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• pp.817-825
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• 2016

In this paper, we introduce a flexible gripper that we have engineered to precisely pinch in parallel and compliantly grasp objects. As found in most conventional industrial grippers, the parallel pinching property is essential for precise manipulation. On the other hand, the grippers with a flexible structure are more adept at grasping objects with arbitrary shapes and softness. To achieve these disparate properties, we introduce a flexible gripper mechanism composed of multiple flexible beam structures. Utilizing these beam structures, the proposed gripper is able to grasp arbitrarily shaped objects. Additionally, a unique combination of flexible beams enables the gripper to pinch objects using the parallel fingertips for enhanced precision. A detailed description of the proposed mechanism is provided, and an analysis of the strength and stiffness of the fingertip and finger body is presented. The Results section compares the theoretical and experimental analyses and verifies the properties and performance of the proposed gripper.

• Proceedings of the Korea Concrete Institute Conference
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• 2006.05a
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• pp.482-485
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• 2006

The response of a reinforced concrete element under cyclic shear is characterized by the hysteretic loops of the shear stress-strain curves. These hysteretic loops can exhibit strength deterioration, stiffness degradation, and a pinched shape. Recent tests have shown that the orientation of steel grids in RC shear elements has a strong effect on the "pinching effect" in the post-yield hysteretic loops. When the steel grid was set at a 45 degree angle to the shear plane, there was no pinching effect and no strength deterioration. However, when the steel grid was set parallel to the shear plane, there was a severe pinching effect and severe strength deterioration with increasing shear strain magnitude. In this paper, two RC elements subjected to revered cyclic shear stresses are considered to study the effect of the steel grid orientation. The presence and absence of the pinching mechanism in the post-yield shear hysteretic loops is studied using the Rotating Angle Softened Truss Model (RA-STM) theory.

• Structural Engineering and Mechanics
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• v.75 no.5
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• pp.529-540
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• 2020

The mechanical properties of timber construction have drawn more attention after the 2013 Lushan earthquake. A strong desire to preserve this ancient architectural styles has sprung up in recent years, especially for residential buildings of the mountainous areas. In the column-and-tie timber construction, continuous-tenon joints are the most common structural form to connect the chuanfang (similar to the beam in conventional structures) and the column. To study the cyclic performance of the continuous-tenon joints in column-and-tie timber construction, the reversed lateral cyclic loading tests were carried out on three 3/4 scale specimens with different section heights of the chuanfang. The mechanical behavior was assessed by studying the ultimate bending capacity, deformation ductility and energy dissipation capacity. Test results showed that the slippage of chuanfang occurred when the specimens entered the plastic stage, and the slippage degree increased with the increase of the section height of chuanfang. An obvious plastic deformation of the chuanfang occurred due to the mutual squeezing between the column and chuanfang. A significant pinching was observed on the bending moment-rotation curves, and it was more pronounced as the section height of chuanfang increased. The further numerical investigations showed that the flexural capacity and initial stiffness of the continuous-tenon joints increased with the increase of friction coefficient between the chuanfang and the column, and a more obvious increasing of bending moment occurred after the material yielding. The compressive strength perpendicular to grain of the material played a more significant role in the ultimate bending capacity of continuous-tenon joints than the compressive strength parallel to grain.